Cooperative tracking control of multiple high-speed trains based on output regulation approach

This paper addresses multiple high-speed trains cooperative tracking control based on output regulation approach. Multiple trains on a railway are considered, which are equivalently regarded as a multi-agent system. Distributed cooperative tracking controllers are constructed to achieve speed consensus among trains at a desired value, and keep a safety distance to avoid collision. At the same time, to eliminate the external disturbance of the train in the complex environment and ensure the safe operation of the train, a distributed observer is also designed. Numerical simulation illustrates that the composite control law is effective in inhibiting the external disturbance, and guaranteeing the safety, efficiency and passenger comfort.